In this article, a controller, based on neuromusculoskeletal model,is proposed for direct dynamics animation. Through the use ofartificial neural networks and evolutionary computation, theproposed controller is capable of adapting itself in order to controlseveral articulated models, and to generate different types ofmovements while maintaining stability even with little variationson the ground or with applications of external forces. Preliminaryresults are presented in association with the control of a humanlikemodel and a cheetah.